Control for an I.S. machine

ABSTRACT

A control for use with a glass forming machine which is controlled by a programmable sequencer which defines a machine cycle having a set cycle time. A computerized model of a mathematical representation of a network constraint diagram of the unwrapped bottle forming process is provided for determining whether, with the following inputs: the time in an unwrapped bottle forming process for each displacement to occur; the machine cycle time; the motion durations of each of the mechanisms from the retracted position to the advanced position and from the advanced position to the retracted position and the collision zones between interfering paths, a collision will result between the gob, the parison, the bottle or any mechanism.

The present invention relates to an I.S. (individual section) machineand more specifically to a control for such a machine.

BACKGROUND OF THE INVENTION

The first I.S. machine was patented in U.S. Pat. No. 1,843,159, datedFeb. 2, 1932, and U.S. Pat. No. 1,911,119, dated May 23, 1933. An I.S.(individual section) machine has a plurality of identical sections. Eachsection has a frame on which are mounted a number of section mechanismsincluding blank side and blow side mold open and close mechanisms, aninvert and neck ring mechanism, a baffle mechanism, a blowheadmechanism, a plunger mechanism and a takeout mechanism. Associated withthese mechanisms is process air used for cooling, for example. Each ofthe section mechanisms and the process air have to be operated at aselected time in the section cycle.

In the original I.S. machine, devices (valves which operated themechanisms and the process air, for example) had to be mechanicallyturned on and off each cycle and the timing process was controlled by a360° timing drum which was a cylindrical drum having a number of annulargrooves, one for each valve, each supporting “on” and “off” dogs fortripping a corresponding switch associated with a particular valve. Therotation of this mechanical timing drum through 360° has always beenequated to the completion of one control cycle of the machine or sectionand accordingly men skilled in this art have always analyzed machineperformance in a wrapped cycle, i.e., one that repeatedly cycles from 0°to 360°. When electronic timing replaced the mechanical timing drum,devices were turned on and off by an electronic sequencer whichreplicated the wrapped 360° control cycle of the mechanical timing drum.An encoder defined the angular location of the electronic sequencer, andelectronic switches were turned on and off at the same angles as was thecase with a mechanical timing drum. A very significant development thatgreatly enhanced the power of the electronic sequencer was the conceptof thermodynamic modes (U.S. Pat. No. 3,877,915) wherein groups of theseelectronic switches were linked so that they could be simultaneouslyadjusted. These machine controllers allow the user to electronicallyadjust the on/off schedule (angle) for the various valves which operatethe section mechanisms. This conventional approach does not allow anoperator to directly command the machine to achieve desired formingdurations (e.g. blank contact time, reheat time). It also does notprevent the user from setting invalid or even potentially damagingsequences in which the mechanisms collide. Only with considerableexperience, and process insight can an operator effectively adjust themachine timing with the conventional approach and since skill levelsvary greatly, the productivity of the machine can vary substantially.

OBJECT OF THE INVENTION

It is an object of the present invention to provide an improved controlsystem for a glass forming machine which will simplify machine operationand facilitate the tuning of the machine for higher productivity.

Other objects and advantages of the present invention will becomeapparent from the following portion of this specification and from theaccompanying drawings which illustrate a presently preferred embodimentincorporating the principles of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic illustration of one section of an I.S. machinewhich can have one or more of such sections,

FIG. 2 is the first part of the Network Constraint Diagram for the Blowand Blow process;

FIG. 3 is the second part of the Network Constraint Diagram for the Blowand Blow process;

FIG. 4 is the third part of the Network Constraint Diagram for the Blowand Blow process;

FIG. 5 is the fourth part of the Network Constraint Diagram for the Blowand Blow process;

FIG. 6 is the fifth part of the Network Constraint Diagram for the Blowand Blow process;

FIG. 7 is the sixth part of the Network Constraint Diagram for the Blowand Blow process;

FIG. 8 is the seventh part of the Network Constraint Diagram for theBlow and Blow process;

FIG. 9 is the eighth part of the Network Constraint Diagram for the Blowand Blow process.

FIG. 10 is network model for branch incidence matrix;

FIG. 11 is an event timing chart for a 360° electronic sequencer whichcontrols a section of an I.S. machine;

FIGS. 12A and 12B are a network diagram for use to unwrap a wrappedcycle;

FIG. 13 is a block diagram illustrating the creation of a computerizedmodel of a mathematical representation of a network constraint diagramunwrapped from a wrapped cycle;

FIG. 14 is a block diagram illustrating the portion of the computerizedmodel which converts wrapped event angles into unwrapped event times;

FIG. 15 is a logic diagram illustrating the operation of a control usingthe computerized model to analyze an unwrapped schedule re constraintviolations such as sequence, collision, or duration violation;

FIG. 16 is a logic diagram illustrating the operation of a control usingthe computerized model to analyze an unwrapped schedule to define theduration of the thermal forming processes;

FIG. 17 is a logic diagram illustrating the operation of a control usingthe computerized model to analyze an unwrapped schedule re theoptimization of the schedule;

FIG. 18 is a logic diagram illustrating the operation of a control usingthe computerized model to define the event angles for a feasibleschedule with thermal forming process duration “N” inputs;

FIG. 19 is a logic diagram illustrating the operation of a control usingthe computerized model to optimize an unwrapped schedule;

FIG. 20 is a logic diagram illustrating the operation of a control usingthe computerized model to identify, when a schedule is determined to befeasible, any active constraint that restricts further improvement; and

FIG. 21 is a logic diagram illustrating the operation of a control usingthe computerized model to minimize the wear on the displaceablemechanisms.

BRIEF DESCRIPTION OF THE PREFERRED EMBODIMENT

An I.S. machine includes a plurality (usually 6, 8, 10, or 12) ofsections 10. Each section has a blank station including a mold openingand closing mechanism 12 having opposed mold supports 14 which carryblank mold halves. When these mold supports are closed by a suitabledisplacement mechanism 16 which can displace the mold support betweenopen (illustrated) and closed positions and which is displaced by amotor 18 such as a servo motor, discrete gobs of molten glass can bedelivered to the closed blank mold. The open top of the blank mold willthen be closed by a baffle of a baffle support 22 which is displaceablebetween remote and advanced positions by a motor (such as a servo) 24.If the section is operating in the press and blow mode, the plunger of aplunger mechanism 26 is advanced vertically upwardly into the gob toform the parison. Cooling air will be supplied to the plunger via avalve V1. If the section is operating in the blow and blow mode, thefinish is formed by applying settle blow air through a valve V2 in thebaffle mechanism 22, and the parison is formed with the application ofcounterblow air to the plunger via a valve V3, while vacuum is appliedto the baffle through a valve V4.

After the parison is formed, the baffle support is retracted, the moldsupports are retracted and a pair of neck ring holder arms 30 which arerotatively supported by an invert mechanism 31, will be rotated 180° bya servomotor drive 32. The blank station also includes a mold openingand closing mechanism 12 having opposed mold supports 14 which carryblow mold halves. These mold supports are displaced between open andclosed positions by a suitable displacement mechanism 16 which isdisplaced by a motor 18 such as a servo motor. With the parison locatedat the blow station, the mold supports are closed, the neck ring armsare opened to release the parison (each arm is displaceable by apneumatic cylinder (not shown) which is operated with a suitable valveV5), the invert mechanism returns the neck ring arms to the blank side(the arms close prior to arrival) and a blow head support 34 which isdisplaceable between a retracted position and an advanced position wherea supported blowhead closes the blow mold, is displaced to the advancedposition by a suitable motor such as a servo 36 to blow the parison intothe bottle. This final blow is controlled by a valve V6.

When the bottle is formed, the blowhead is retracted, blank molds areopened and a takeout mechanism 38 which is driven by a suitable motor39, such as a servo motor, is displaced to pick up the formed bottle andcarry it to a location above a deadplate 40 where it is cooled whilesuspended and then deposited onto the deadplate. In addition to themovement of mechanisms and devices, process air to mechanisms, moveableor stationary, may also be controlled. When the blow molds are closed,mold cooling air is turned on to cool the formed bottle.

Each section is controlled by a computer 42 which operates under thecontrol of a 360 degree timing drum (programmable sequencer) whichdefines a finite number of angular increments around the drum at whichmechanisms, etc., can be turned on and off each 360 degree rotation. Thecontrol knows the time it takes for rotating 360 degrees and this timecan be fixed or defined as the duration between once per cycle pulsessuch as pulses originating from the feeder of the I.S. machine. Eachvalve is cycled (turned on and off) and each mechanism is cycled withinthe time of one machine cycle by an electronic timing drum (programmablesequencer) which is part of the computer 42.

In accordance with the present invention a tool is defined first bymaking an unwrapped cycle constraint diagram for an actual I.S. machineconfiguration and then making a mathematical representation of theunwrapped cycle constraint diagram that is capable of automatedformulation and solution. “Unwrapped” means the I.S. is a process cyclebeginning with the formation of a gob of molten glass by severing thegob from a runner of molten glass and ending with the removal of aformed bottle from the blow station. This process cycle takes more thanone 360° machine cycle of the timing drum to complete (normally 2 times360° machine cycles).

FIGS. 2-9 show a possible Network Constraint Diagram for arepresentative blow and blow process for making glass bottles in an I.S.machine. The cycle starts with the shear cut represented by time node z1(“z” and “n” denote a time node). Gob Delivery/M13 (a block containingan “M” represents an activity that will move between start and endpositions with the direction of motion being indicated with arrows)begins at z1 and ends with n177/e26/n6 (a vertically oriented equal signlabeled “e” connecting two nodes indicates that the two connected nodesoccur at the same time). Gob Delivery/M13 motion is subdivided into twosubmotions: 1. Gob In Collision Zone With Baffle/m2 (a block containinga “m” represents a submotion) which starts at z1/e1/n3 and ends at n4.Gob Traverses Blank Mold/m3 which starts at n4/e2/n5 and ends at n6.

Node z1 (shear cut) also has another branch Total Process/d13 whichstarts at z1/e79/n175 and ends at n176/e78/n84 (FIG. 9). Derivedbranches are identified with ellipses containing “D” and representthermal process durations that are defined as a function of the machineevents.

FIG. 2 also shows that Plunger To Loading Position/MP1 (“P” means priorcycle) must be completed at n13. Node n13 is the time when the motionPlunger To Loading Position/M1 was completed at n15 during the priorcycle. This is indicated by cycle time branch (FIG. 6) that connects n13to n15. The plunger includes an independently moveable thimble and atthe end of Plunger To Loading Position/M1, both the thimble and theplunger are up. Node n177, the end of Gob Delivery/M13 must be some time(s2) (“s” along side a pair of closely adjacent direction arrowsrepresents some time (a sequence constraint) that will pass betweenconnected nodes) after n13.

FIG. 2 also shows node n20 which is the time when Baffle Off/MP15 wascompleted in the previous cycle t2. This is indicated by cycle timebranch t2 that is connected to node n22 (FIG. 4) which is the time whenBaffle Off/M15 is completed in the subsequent cycle. Node n20 isconnected to n1 which starts Baffle On/M14 some time (s22) after n20,i.e., Baffle On/M14 cannot start until Baffle Off/15 is completed.Motion branch Baffle On/M14 ends at node n93. Baffle motion is brokendown into submotions Baffle Moves To Interference With Gob/m4 whichstarts at n1/e27/n7 and ends at n8 and Baffle On Completion/m5 whichstarts at n8/e3/n9 and ends at n10/e28/n93. Also shown is collisionbranch Baffle Collides With Gob/c1 (collision branches are representedby a squiggly line which is identified by “c”) connecting node n4 to n8.This means that the gob must be at n4 before or no later than the bafflereaches n8 in order to be sure that no collision will occur.

FIG. 2 also shows node n40 which is the time Blank Molds Closed/MP9 thelast cycle (n40 is connected to node n55 (FIG. 6) which is the end ofBlank Molds Closed/M9 the present cycle with t1 indicating a cycledifference). Blank Molds Closed/MP9 was complete at n40 which is sometime (s21) before the start of Gob Traverses Blank/m3 at n5.

When the gob is fully delivered in the blanks n177/e24/n26 BlankContact/d1 (FIG. 3) begins and continues until n25/e25/n28 when theBlanks Open/M5. Prior to Blank Contact/d1 at time n5/e63/n183 (the timewhen Gob Traverses Blank/m3 begins) a vacuum valve is opened startingthe process branch Vacuum Assist/p13 (process branches are identifiedwith ellipses containing “P”) Vacuum Assist/p13 will continue until n182when the vacuum valve will be closed. This means that at the same timethat the gob is traversing the blank, vacuum is being applied throughthe neck ring (before completion of the plunger moving to the loadingposition) to help draw the gob into the neck area of the blank and intothe neck ring.

At n12 which is some time (s5) after the gob is delivered (n177) andsome time (s3) after the baffle is on (n10), a compressed air valve isopened to start Settle Blow/p1 which ends at node n11/e73/n21/e68/n155with the closing of the compressed air valve. When Settle Blow/p1 endsSettle Blow Vent/p10 begins and ends at n19 and Neck Ring Contact/d8begins and ends at n154/e69/n113/with Neck Rings Opening/m21 (FIG. 5).This means that at the completion of settle blow the gob is in contactwith the neck ring and heat is being removed from the gob until the neckrings are opened. Baffle To Down/M2 (FIG. 2) begins at n69, which issome time (s1) after n11 and ends at n35 (closes top of blank forcounter blow). At n172 (FIG. 3) which is some time s10 after n177 whenthe gob is fully loaded into the blank molds and another time s11 afterBlank Cooling/pP7 ended at n173 during the last cycle (t11), BlankCooling/p7 begins with the opening of a valve and continues until n171when the valve is closed.

At n156 (FIG. 3), which is time s40 after Vacuum Assist/p13 ends at n182and which is time s7 after n19 when Settle Blow Vent/p10 is over, thePlunger Is Displaced To Counter Blow Position/M3 (the thimble isretracted out of the glass), a process that ends at n70 and at the sametime (n156/e70/n158) the glass in the area of the finish, which is incomplete contact with the molds, will reheat (Corkage Reheat/d9) untiln157/e71/n160 which is some time (s39) after n70 and which is some time(s36) after n35 (the end of Baffle To Down/M2. At n160, Counter Blow/p11starts with the opening of a valve and continues until timen159/e80/n181/ when a valve opening a vent in the baffle is opened toallow the process Counter Blow Vent/p12 to start. This process ends atn180. At time n148, which is some time (s38) after n159, the Plunger (isdisplaced) To Invert Position/M4 whereat both the thimble and theplunger are down (this takes until n147).

At n149/e66/n151, which is some time (s37) following the end of CounterBlow Vent/p12 at n180, the following events begin simultaneously: 1.Parison Bottom Reheat/d7 which lasts until n150/e65/n28 and 2. BaffleOff/M15 (FIG. 4) which lasts until n22/e30/n33. Baffle Off/M15 can bedivided into two submotions; the first being Baffle Off ClearsInterference With Invert/m11 which begins at n149/e29/n32 (FIG. 3) andends at n31/e7/n34, and the second being Baffle Off Completion (pastinterference)/m12 which starts at n34 and ends at n33. At n28 (FIG. 3),which is some time (s8) after n149, the following events simultaneouslyoccur: 1. Blanks Open (blank molds are opened)/M5 which ends at n27(FIG. 4) leaving the bottom of the parison on the bottom plate of theblank molds; 2. Reheat (parison)/d4 begins at time n28/e15/n29 (FIG. 4)and continues until n61/e16/n30 (FIG. 6) (some time (s15) after BlowHead On/M18 movement is completed at n101) when Final Blow/p2 (FIG. 7)begins, ending at n63; and Inverted Reheat/d3 which begins at n28/e8/n38(FIG. 3) and continues until n37/e9/n39 (FIG. 5) which corresponds tothe completion of Invert/M6 which began at n24. At n36 (FIG. 5), sometime (s4) following n37, reheat will continue with the parison inverted(Parison Invert Recovery/p4) until n17. The invert motion is subdividedinto a number of submotions. At the beginning of invert displacement(n24/e53/n153) (FIG. 4), there is the submotion Invert To BaffleInterference/m40 which ends at time n152/e67/n125. The next submotion isInvert Baffle Interference To Invert Blowhead Interference/m32 whichends at time n124/e52/n127. The next submotion is Invert To TakeoutInterference1 From Blowhead Interference/m3 which ends at n126/e60/n140when Invert (moves) To Takeout Interference2/m33 begins ending atn139/e61/n142. The next submotion is Invert (moves) To TakeoutInterference3/m38 which begins at n142 and ends at n141/e54/n129.Finally Invert Completion/m35 (FIG. 5) occurs beginning at N129 andending at n128/e55/n39.

A number of collision branches are identified. Plunger Collides WithInvert/c2 (FIG. 3) when the plunger M4 is not displaced to the invertposition before the invert moves (time n147 vs. time n24). BlanksCollide With Invert/c3 (FIG. 4) when the blanks M5 are not displaced tothe open position before the invert moves (time n27 vs. time n24). Anumber of other collisions are shown: Baffle Collides With Invert/c4when the baffle m11 reaches a selected point before n24 and BaffleCollides With Invert/c18 when the baffle m11 reaches its fully offposition before n152 when the invert has reached the outer limits of itsinterference zone with the baffle. By dividing the interference zoneinto more than one zones, the mechanism can get an earlier start. Theblow head and the invert will collide c12 if Blow Head Up MP19 has notoccurred (the last cycle t4) before the invert has reached the end ofthe Invert Baffle Interference To Invert Blowhead Interference (time n23vs. time n124).

Also shown is the motion of the takeout: Takeout ThroughInterference1/mp13 (FIG. 4) which ends at n143 (the last cycle/t7);Takeout Through Interference2/mp24 which ends at n144 (the lastcycle/t8); and Takeout Through Interferemce3/mp36 (FIG. 5) which ends atn145 (the last cycle/t9). A number of collisions are identified: TakeoutCollides With Invert/c13 (FIG. 4) if the invert reaches Interference1before the takeout does (n143 vs. n126). Takeout Collides WithInvert/c17 if the invert reaches Interference2 before the takeout does(n144 vs. n139). Takeout Collides With Invert/c16 (FIG. 5) if the invertreaches Interference3 before the takeout does (n141 vs. n145). At n179(FIG. 4) which is some time (s34) after n28, Neck Ring Cooling/p9 beginswith the opening of a valve and continues until n178, which is some times35 before n24 when the invert/M6 begins to move.

The blow molds, which were open Mp24 (FIG. 4) at time n14 during thelast cycle t10, begin to close at time n98/e56/n146 which is some time(s17) after n14. Closing has a number of submotions: Molds Close to WareWidth/m39 (FIG. 5) which starts at n146 and ends at n109/e62/n85; MoldsClose To Parison Width/m16 which starts at n85 and ends at n62/e32/n42;Molds Close to Receive Position/m14 which starts at n42 and ends atn41/e10/n44; and Molds Close Shut/m15 which starts at n44 and ends atn43/e31/n97 (FIG. 6). Takeout Clears Ware From Mold/Mp30 (FIG. 4) musthave operated in the prior cycle t3 before Molds Close To Ware Width/m39to avoid a collision of the takeout with the molds c10 (time n89 vs.time n109. Furthermore, Parison Invert Recovery/p4 should be completebefore the molds close (time n17 vs. n62/e32/n42) or a collision ParisonCollides With Mold/c5 will occur.

The neck rings open to release the parison at the blow head (Neck RingsOpen/M8) (FIG. 5). This motion which occurs from n46 to n451/e44/n112 isdivided into two parts: Neck Ring Open Delay/m18 which starts at thesame time n46/e45/n111 and ends at n110/e43/n113 (some time (s26) aftern41—the end of Molds Close To Receive Position/m14 and some time (s25)before Blow Molds Close/M16 is complete at n97) (FIG. 6) when the secondpart (Neck Rings Opening/m21) starts. This second part ends at n112. Inthe event that Neck Rings Closing/M7 (FIG. 6) occurs (n49) before RevertTo Neck Ring/Blank Interference/m29 (n51), the collision Neck RingsCollide With Blank Mold/c6 will occur. At n100 (FIG. 5), which is sometime (s13) after the opening of the neck rings (M8) at n45/ the invertis displaced back to its original position (Revert/M17). Revert iscomplete at n99/e34/n53. Revert has three submotions 1. starting atn100/e33/n48 there is Revert Clears Interference With Blow Head/m17which ends at n47/e12/n52, 2. following Revert Clears Interference WithBlow Head, there is Revert To Neck Ring/ Blank Interference/m19 whichends at n51/e13/n54 when 3. Revert Completion/m20 operates ending atn53/e34/n99. At n50 which is some time (s14) after n100, Neck RingsClosing/M7 operates until n49. If the neck rings are not closed beforerevert reaches its initial location of interference with the blank mold(time n49 vs. n51), the collision Neck Rings Collide With Blank Mold/c6will occur.

At time n102 (FIG. 5) which is some time (s23) after n23, the movementBlow Head On/M18 (FIG. 6) takes place finishing at n101/e36/n59. This isa two stage displacement beginning with Blow Head To Interference WithRevert/m22 which begins at n102/e35/n58 and ends at n57. In the eventthat Revert Clears Interference With Blow Head does not occur beforeBlow Head To Interference With Revert, Revert Collides With Blow Head/c8will occur (n57 vs. n47). The last portion of the blow head displacementis Blow head On Completion/m23 which begins at n57/e14/n60 and ends atn59.

At n56 Blanks Close/M9 (FIG. 6) begins and continues until n55. If thecompletion of Revert/M17 at n99 does not preceed the start of BlanksClose/M9 at n56 the Revert Collides With Blank Molds/c7 collision willoccur. At n16 which is some time (s6) after n99, the Plunger To LoadingPosition/M1 displacement takes place ending at n15.

n30 e17/n66 (FIG. 7) is the beginning of Mold Contact/d5 (FIG. 8) whichends at n 65/e18/n68 and Final Blow/p2 which ends at n 63. n30/e11/n165is also the end of Vacuum Blow Lead/d12 which begins at n166/e77/n168.Also beginning at n168 is Vacuum Blow/p5 which ends at n167 which issome time (s29) before n68/e18/n65 (FIG. 8) which is the end of MoldContact/d5. Both Vacuum Blow Lead/d12 and Vacuum Blow/p5 begin atn168/e77/n166 (FIG. 6) which is some time (s9) after n97. At n91 whichis some time (s27) following the end of Blow Molds Close/M16 at n97,Blow Mold Cooling/p3 (FIG. 8) begins continuing until n90 which is sometime (s30) before the end (n65/e18/n68) of Mold Contact/d5. AdditionallyBlow Mold Precooling/d11 (FIG. 6) begins at the same time n91/e74/n162and continues until n161/e75/n30/e16/n61 which is also the end ofReheat/d4. Finish Cooling/p6 (FIG. 7) begins at n170 which is some time(s31) after the end of the end of Blow Head On/M18 at n101 and ends atn169.

At n104 (FIG. 7) which is some time (s32) after the end of FinishCooling/p6 at n169, Blow Head Up/M19 begins ending at n103/e38/n73. Thismovement can be broken down into a number of submotions: 1. Blow Head UpTo End Final Blow/m41 which begins at n104/e76/n164 and ends at n163which is some time (s20) ahead of n63 (the end of Final Blow/p2), 2.Blow Head Clears Interference1 With Takeout/m25 which begins atn163/e37/n72 and ends at n71, 3. Blow Head Up Clears Interference2 WithTakeout/m7 which begins at n71/e21/n95 and ends at n92, 4. Blow Head UpClears Interference3 With Takeout/m8 which begins at n92/e5/n96 and endsat n94 (FIG. 8), and 5. Blow Head Up Completion/m26 which begins atn94/e6/n74 and ends at n73.

Tongs Open/MP12 (FIG. 6) is complete at n86 (of the prior cycle t5) andsome time (s28) thereafter, at n119, Kickback (takeout readyposition)/M22 begins and ends at n118. At n106, which is some time (s24)after n118, Takeout In/M20 begins ending at n105. Takeout movement has anumber of sub movements: 1. Takeout In To Interference1 With BlowHead/m27 which begins at n106/e39/n76 and ends at n75, 2. Takeout In ToInterference2 With Blowhead/m9 which begins at n75/e22/n117 and ends atn116, 3. Takeout To Interference 3 With Blowhead/m10 which begins atn116/e19/n132 and ends at n131 and 4. Takeout In Completion/m28 whichbegins at n131/e20/n78 and ends at n77/e40/n105 (FIG. 8). A number ofcollisions are identified: 1. Blow Head Collides With Takeout/c9 whichwill occur if n75 occurs before n71, 2. Blow Head Collides WithTakeout/c14 if n116 occurs before n92, and 3. Blow Head Collides WithTakeout/c15 (FIG. 8)if n131 occurs before n94. At n80 which is some time(s18) after n105 (the end of Takeout In/M20) Tongs Close/M11 finishingat n79/e51/n120. Beginning at n68 and ending at n67/e50/n122 Blank MoldsOpen/M10. This motion has a number of submotions: 1. Molds Open ToRelease Point/ m29 which begins at n68/e49/n121 and ends at n120/e4/n64,2. Molds Open To Clear Ware/m6 which begins at n64 and ends atn130/e48/n123, and 3. Molds Open Completion/m31 which begins at n123 andends at n122/e50/n67. At n108, which is some time (s19) after n79, theend of Tongs Close/M11, Takeout Out/M21 takes place ending at n107 (FIG.9). This motion also has a number of sub motions: 1. Takeout Out ThroughInterference1/m13 which begins at n108/e41/n138 and ends at n133, 2.Takeout Clears Ware From Mold/m30 (FIG. 9) which begins at n133/e57/n82and ends at n81, 3. Takeout Out Through Interference2/m24 which beginsat n81/e23/n135 and ends at n13, 4. Takeout Out ThroughInterference3/m36 which begins at n13/e58/n137 and ands at n136, and 5.Takeout Out Completion/m37 which starts at n136/e59/n88 and ends atn87/e42/n107. The collision Molds Collide With Takeout/c11 will occur ifn82 occurs before n130.

Finally at the end of Takeout Out/M21 (n107/e46/n115)Hanging Dead PlateCooling/d6 takes place until n114. At n174 which is some time (s12)after n107, Dead Plate High/p8 takes place lasting until n18. Some time(s33) thereafter, at n84/e78/n176/e47/n114 Total Process/d13 ends,Hanging Dead Plate Cooling/d6 ends and Tongs Open/M12 ending at n83.

While, for illustrative purposes, one specific blow and blow machineconfiguration has been described, it should be understood that there area number of operating configurations which machine users use includingblow and blow and press and blow and for each users have developed manyunique processes that would vary slightly one from another. A personskilled in this art, with an understanding of the illustratedconfiguration, should be able to define a constraint diagram for hisactual configuration.

The next step is to convert this network constraint diagram into arepresentation that is ideal for automated formulation and solution ofthe schedule synthesis and analysis problems by a computer. A matrixalgebraic representation of the network constraint model is utilized inthe preferred embodiment but other forms of mathematical representationscan be used. The Branch Incidence Matrix, F may be formed as follows:

1. Number the branches in the network constraint diagram (NCD) from 1 toM_(b) where, M_(b) is the total number of network branches. The orderingof the assigned branch numbers is arbitrary.

2. Number the nodes in the NCD from 1 to N_(n) where N_(n) is the totalnumber of network nodes. The ordering of the assigned node numbers isarbitrary.

3. Form the first row of an M_(b) row by N_(n) column matrix F byentering a value of 1 (positive one) in the column corresponding to thesource node for the first branch, a value of −1 (negative one) in thecolumn corresponding to the destination node for the first branch, andzeroes in all the other columns.

4. Create the second through M_(b) row of F by repeating the proceduredescribed in Step 3 for the second, third on up to the M_(b) branch inthe network.

The result will be a matrix, F with M_(b) row by N_(n) columns which isalmost entirely filled with zeros, except for one entry of 1 and oneentry of −1 in each row.

To provide a concrete example, the NCD for a simple network model isshown in FIG. 10. The network has M_(b)=7 branches, and N_(n)=6 nodes.The Branch Incidence Matrix, F for this network will thus have 7 rowsand 6 columns. For this model, utilizing the branch and node numbersindicated in FIG. 3, F will then be given by: $\begin{matrix}{F = \begin{bmatrix}1 & {- 1} & 0 & 0 & 0 & 0 \\0 & 1 & 0 & 0 & {- 1} & 0 \\1 & 0 & {- 1} & 0 & 0 & 0 \\0 & 0 & 0 & 0 & 1 & {- 1} \\0 & 0 & 1 & {- 1} & 0 & 0 \\0 & 0 & 0 & 1 & 0 & {- 1} \\0 & 1 & 0 & {- 1} & 0 & 0\end{bmatrix}} & {{Equation}\quad 1}\end{matrix}$

Each branch, i, in the network constraint model represents a pair ofrelationship of the form:

t _(destination,i) −t _(source,i)≦δ_(max,i)  Equation 2

t _(destination,i) −t _(source,i)≧δ_(min,i)  Equation 3

Where:

t_(destination,i)=time assigned to the destination node of the i^(th)branch

t_(source,i)=time assigned to the source node of the i^(th) branch

δ_(max,i)=maximum allowable branch duration for the i^(th) branch

δ_(min,i)=minimum allowable branch duration for the i^(th) branch

Define the vector t of nodal times, where the j^(th) element of t is thetime assigned to the j^(th) network node. Denoting the i^(th) row of thebranch incidence matrix F by F₁, Equation 2 and Equation 3 can berewritten as follows:

−F _(i) t≦δ _(max,i)  Equation 4

−F _(i) t≧δ _(min,i)  Equation 5

This results from the fact that that the matrix multiplication of thei^(th) row of the constraint matrix, F₁, with the nodal time vector, t,selects only the source and destination node times, because all otherentries in the row are zero. In accordance with conventional practice avalue of positive one is assigned to the element corresponding to asource node and a value of negative one is assigned to the destinationnode.

Since Equation 3 and Equation 4 hold for each branch in the network theFundamental Matrix Constraint Equations can be written as follows:

−Ft≦δ _(max)  Equation 6

−Ft≧δ _(min)  Equation 7

For branches that have no upper bound on their duration, δ_(max,i) isset to positive infinity. Similarly for branches which have no lowerbound set on their duration, δ_(min,i) is set to negative infinity. Forbranches which must exactly match a target value, both the upper andlower bound are set equal to the target value, δ_(target,i).

The fundamental matrix constraint equations (Equation 6 and Equation 7)are augmented to account for three types of additional constraints.These three additional types of constraints are:

1. The branch duration for all cycle branches must be equal. This isrequired to enforce a uniform cycle period on the whole system.

2. The branch duration for each submotion branch must remain a constantfraction of the branch duration for its corresponding main motionbranch.

3. The absolute event time for one node in the network must be set to adesired reference value (typically zero).

These requirements can be expressed in terms of the previously definedbranch incidence matrix, F as follows:

Each cycle branch must have a duration equal to the cycle period, T, andtherefore, regardless of the particular value of the cycle period allN_(t) cycle branches must have the same branch duration. Denote thebranch numbers corresponding to the cycle branches by the set {i₁,i₂, .. . i_(N) _(t) }. The duration of the k^(th) cycle branch can then beexpressed as:

−F _(i) _(k) t=δ _(i) _(k)   Equation 8

Where F_(i) _(k) represents the i_(k) row of the Branch IncidenceMatrix, F.

The uniform branch duration constraint is then enforced by setting eachof the cycle branch durations to be equal to the duration of the firstcycle branch as follows: $\begin{matrix}{{\begin{bmatrix}{- F_{i_{2}}} \\{- F_{i_{3}}} \\\vdots \\{- F_{i_{N_{t}}}}\end{bmatrix}t} = {\begin{bmatrix}{- F_{i_{1}}} \\{- F_{i_{1}}} \\\vdots \\{- F_{i_{1}}}\end{bmatrix}t}} & {{Equation}\quad 9}\end{matrix}$

Which can be rearranged to obtain: $\begin{matrix}{{\begin{bmatrix}{{- F_{i_{2}}} + F_{i_{1}}} \\{{- F_{i_{3}}} + F_{i_{1}}} \\\vdots \\{{- F_{i_{N_{t}}}} + F_{i_{1}}}\end{bmatrix}t} = \begin{bmatrix}0 \\0 \\\vdots \\0\end{bmatrix}} & {{Equation}\quad 10}\end{matrix}$

Defining the matrix A_(t) to represent the left hand side of Equation 10so that: $\begin{matrix}{A_{t} = \begin{bmatrix}{{- F_{i_{2}}} + F_{i_{1}}} \\{{- F_{i_{3}}} + F_{i_{1}}} \\\vdots \\{{- F_{i_{N_{t}}}} + F_{i_{1}}}\end{bmatrix}} & {{Equation}\quad 11}\end{matrix}$

Equation 10 can be rewritten more compactly as:

A _(t) t=0  Equation 12

If the branch duration for a main motion branch is varied, then thesubmotion branches (if any) associated with this branch should beproportionally rescaled.

To represent this set of auxiliary constraints some notation must firstbe defined. Denote the branch numbers corresponding to the main motionbranches (including only branches that have associated submotionbranches) by the set {M₁,M₂, . . . M_(Nm),} where Nm is the total numberof main motion branches that have associated submotion branches. Denotethe submotion branches associated with the k^(th) main motion branch bythe set {m_(k1),m_(k2), . . . m_(kNk)}, where N_(k) is the total numberof submotion branches associated with the k^(th) main motion branch.Each submotion branch duration represents a fixed fraction of theassociated main branch duration. Let α_(k) _(j) denote this fixedfraction for the j^(th) submotion branch associated with the k^(th) mainmotion branch.

The required set of constraints associated with the kth main motionbranch can now be represented by the equation: $\begin{matrix}{{\begin{bmatrix}{F_{m_{k1}} - {\alpha_{k1}F_{M_{k}}}} \\{F_{m_{k2}} - {\alpha_{k2}F_{M_{k}}}} \\\vdots \\{F_{m_{k\quad N_{k}}} - {\alpha_{k\quad N}F_{M_{k}}}}\end{bmatrix}t} = \begin{bmatrix}0 \\0 \\\vdots \\0\end{bmatrix}} & {{Equation}\quad 13}\end{matrix}$

Defining the matrix A_(M) _(k) to represent the left hand side ofEquation 13 so that: $\begin{matrix}{A_{M_{k}} = \begin{bmatrix}{F_{m_{k1}} - {\alpha_{k1}F_{M_{k}}}} \\{F_{m_{k2}} - {\alpha_{k2}F_{M_{k}}}} \\\vdots \\{F_{m_{k\quad N_{k}}} - {\alpha_{k\quad N}F_{M_{k}}}}\end{bmatrix}} & {{Equation}\quad 14}\end{matrix}$

we can rewrite Equation 13 more compactly as:

A _(M) _(k) t=0  Equation 15

Further, defining the matrix A_(m) as: $\begin{matrix}{A_{m} = \begin{bmatrix}A_{M_{1}} \\A_{M_{2}} \\A_{M_{3}} \\\vdots \\A_{M_{N\quad M}}\end{bmatrix}} & {{Equation}\quad 16}\end{matrix}$

the complete set of auxiliary submotion constraints can be expressed bythe equation:

A _(m) t=0  Equation 17

One reference node in the network is selected, and the absolute time atwhich this event is to occur is set to zero. Denoting the node number ofthe reference node as k, this constraint can be expressed as:

A _(z) t=0  Equation 18

where the kth element of the row vector A_(z) has a value of 1 and allother elements are zero.

Finally, the Augmented Constraint Matrix A is defined by:$\begin{matrix}{A = \begin{bmatrix}{- F_{r}} \\A_{t} \\A_{m} \\A_{z}\end{bmatrix}} & {{Equation}\quad 19}\end{matrix}$

where F_(r) is the reduced branch incidence matrix formed by eliminatingall of the now redundant rows in F. Specifically, the rows correspondingto all of the submotion branches, and all but the first cyclic branchare removed from F to form F_(r). The length N_(b)+N_(t)+N_(M)+1 vectorsb_(min) and b_(max) are defined by: $\begin{matrix}{b_{\min} = \begin{bmatrix}\delta_{\min} \\\quad \\0\end{bmatrix}} & {{Equation}\quad 20} \\{b_{\max} = \begin{bmatrix}\delta_{\max} \\\quad \\0\end{bmatrix}} & {{Equation}\quad 21}\end{matrix}$

The complete set of network constraints can then be expressed bycombining Equation 6, Equation 7, Equation 12, Equation 17, Equation 20and Equation 21 into the single set of augmented constraint equations:

At≦b _(max)  Equation 22

At≧b _(min)  Equation 23

In the right hand side of Equation 22 and Equation 23 the finalN_(t)+N_(M)+1 elements of the vectors b_(max) and b_(min), respectively,are always identically zero. The objective is to find a set of eventtimes (schedule) which satisfy all the required network constraints. Ingeneral, there will be more than one, in fact, infinitely many,schedules that will fit the network constraints. A constrainedoptimization based methodology is therefore employed to select the mostdesirable schedule from the many available possibilities. The generalapproach can be tailored to fit a variety of practical problems bymaking judicious choices of the optimization criterion. Some informallystated examples of optimization criteria that are of practical interestinclude:

1. Minimizing the cycle period with specified thermal process durations

2. Maximizing particular thermal process durations, for example reheat,within a fixed cycle period.

3. Minimizing wear and tear by slowing down mechanisms as much aspossible with a fixed cycle period and specified set of thermal processdurations.

Optimal schedules utilizing such criteria are readily obtained using thenew methodology which has been developed.

In terms of the matrix algebraic model representation, describedpreviously, the general problem to be solved is to find a length N_(n)vector t of nodal times which satisfies:

minimize f(t)  Equation 24

subject to the constraints:

At≦b _(max)

At≧b _(min)

The scalar function f, referred to as the objective function, specifiesthe criterion for distinguishing the most desirable of the many possiblesolutions to the problem. This is known as a Constrained OptimizationProblem (as opposed to an Unconstrained Optimization Problem) because weare seeking an optimal solution but are limiting the set of possiblesolutions to those that satisfy a specified set of constraints. In thiscase, the constraints are expressed as a set of linear inequalities.

A wide variety of practical criteria can be expressed in terms of aquadratic objective function of the form (actually, the constantterm,f₀, is not strictly required since it has no effect on the locationof the system's minima and maxima. It is only retained here because itlater allows the value of the objective function to be given a moreobvious interpretation as the distance of the actual branch durationsfrom the desired target values.

f(t)=½t ^(T) Ht+Ct+f ₀  Equation 25

As will be detailed subsequently, the essential machine schedulingproblems can in fact be expressed using a quadratic objective functionof the form given in Equation 25.

An optimization problem that has this combination of a quadraticobjective function, and linear constraints is known as a QuadraticProgramming Problem. A large variety of fast and reliable numericalalgorithms exist for solving Quadratic Programming Problems. In somepractical cases (for example minimizing the cycle period) theoptimization criteria can be expressed using a linear objective functionof the form of given:

f(t)=Ct+f ₀  Equation 26

This combination of a linear objective function with linear constraintsis known as a Linear Programming Problem. Linear Programming problems,in many cases, can be solved with less computational effort andtherefore even faster than Quadratic Programming Problems, but theQuadratic Programming Solver used to save linear and quadratic objectivefunctions is the most economical solution.

The basic idea of the GTSSM (General Target Schedule SynthesisMethodology) is to assign a target value for the duration of each branchin the network. These target values represent the ideal set of valuesthe user would like to attain for all of the branch durations. Becauseof the many network constraints that must also be satisfied, it may notin fact be possible to obtain all of the target branch duration values.The GTSSM therefore finds a schedule that matches the target values asclosely as possible.

The GTSSM achieves it ability to provide a single approach to a varietyof problems through the use of four major features:

1. Quadratic Objective Function—A quadratic objective function makesmathematically precise the notion of a schedule being as close to thetarget value as possible.

2. Hard Limits—Hard upper and lower limits can be imposed on theallowable durations for each network branch.

3. Locking—Durations of specified branches can be locked so that theyare achieved exactly in the resulting schedule.

4. QP Solver—Use of a robust QP (Quadratic Programming) numericalsolver. Each of the above features will now be described in furtherdetail.

The intuitive notion of a schedule being close to the target value mustbe made mathematically precise in order to implement an automatednumerical solution. For this purpose define the objective function,f(t), as follows: $\begin{matrix}{{f(t)} = {\sum\limits_{i = 1}^{N_{b}}\left( {w_{i}\left( {{\delta_{i}(t)} - \delta_{t_{i}}} \right)} \right)^{2}}} & {{Equation}\quad 27}\end{matrix}$

where:

w₁=a constant which weights the importance of the deviation between thetarget and actual duration for the i^(th) network branch

δ_(i)(t)=duration of the i^(th) network branch as a function of t, thelength N_(n) vector of nodal event times (schedule)

δ_(t)=target duration for the i^(th) network branch

N_(b)=total number of network branches

Thus, the distance, from the target is expressed as the weighted, sum ofthe squared deviations between the target and actual branch durations.It is noted that for the two or three-dimensional case (N_(b)=2 orN_(b)=3) and w_(i)=1, Equation 27 expresses the familiar EuclideanDistance Formula.

Noting that the branch duration for the i^(th) branch duration can beexpressed in terms of the i^(th) row of the branch incidence matrix as:

δ_(i) =−F _(i) t,

Equation 27 can be expressed in terms of the previously defined MatrixAlgebraic System Model as:

f(t)=(W(Ft+δ))^(T)(W(Ft+δ))  Equation 28

where:

W=weighting matrix

δ=vector of target branch durations

F=branch incidence matrix

T=length N_(n) vector of nodal event times (schedule) superscriptT=matrix transpose

Following routine algebraic manipulation Equation 28 can be rewrittenas:

f(t)=t ^(T) F ^(T) W ^(T) WFt+2δ_(t) W ^(T) WFt+δ _(t) ^(T) W ^(T) Wδ_(t)  Equation 29

Equation 29 can then be expressed in the standard form given in Equation25 for a quadratic objective function:

f(t)=½t ^(T) Ht+Ct+f ₀  Equation 30

where:

H=2F^(T)W^(T)WF

C=2δ_(t)W^(T)WF

f₀=δ_(t) ^(T)W^(T)Wδ_(t)

Some flexibility is available in the definition of the elements of thediagonal weighting matrix. The simplest alternative is to set each ofthe branch weights w_(i) to a value of 1 (one) so that W becomes theidentity matrix. This gives equal weight to the absolute error(deviation) between the desired and target duration values for all ofthe network branches. Although in some cases the absolute error approachmay be appropriate, it is more commonly the case that we are concernedwith the relative error, in which the error for each branch isnormalized by its typical duration. Thus, with the relative errorapproach a deviation of 1 millisecond for a branch whose typicalduration is 10 milliseconds is considered to be of the same significanceas a deviation of 1 second for a branch whose typical duration is 10seconds. For the relative error approach we thus define the weightingmatrix W by: $\begin{matrix}{W = \begin{bmatrix}{1/\left( {\delta_{{high}_{1}} - \delta_{{low}_{1}}} \right)} & 0 & 0 & 0 \\0 & {1/\left( {\delta_{{high}_{2}} - \delta_{{low}_{2}}} \right)} & 0 & 0 \\0 & 0 & \quad & 0 \\0 & 0 & 0 & {1/\left( {\delta_{{high}_{N_{b}}} - \delta_{{low}_{N_{b}}}} \right)}\end{bmatrix}} & {{Equation}\quad 31}\end{matrix}$

where:

δ_(high1)=The high scale value for the i^(th) network branch

δ_(low1)=The low scale value for the i^(th) network branch

It is often useful to have the ability to limit the allowable ranges ofparticular branch durations. Example situations for requiring thiscapability might include mechanisms that have a lower bound on theirmotion duration, and process steps that have lower and/or upper boundson their duration. These bounds are set in the GTSSM by assigningappropriate values to the elements in the b_(min) and b_(max) vectorsforming the right hand sides of the matrix constraint relationshipsgiven by Equation 24.

In some cases it is desirable to specify that particular branchdurations are to be exactly equal to the target values. This will bereferred to as locking the target value. For example, in some cases itis necessary to lock the duration of the cycle branches because thecycle period of upstream equipment such as the feeder can not be readilyadjusted. This capability is implemented in the GTSSM by setting thevalue of the appropriate elements of the upper and lower bounds (vectorsb_(min) and b_(max) forming the right hand sides of the matrixconstraint relationships given by Equation 24) both equal to the targetvalue. The matrix H should be positive definite). To avoid complicationswith this numerical problem, small weights can be assigned even tobranches whose duration's are not of interest or a solver can be usedthat specifically treats the case where H is only positive semidefinite.

Based upon either prior experience or specific tests, the desireddurations of all of thermal forming process steps (reheat, final blow,etc.) may be known and the bottle maker may not wish these values tovary. With the cycle period branch duration unlocked, all ofthermal-forming related branch durations locked, and mechanism motionbranches duration locked at the value corresponding to the fastestpossible mechanism travel durations, the target duration for the cycleperiod could be set to zero (indicating that it is desired to have it asshort as possible). The QP solver will then find the schedule with theshortest possible cycle period consistent with all of the networkconstraints (These constraints include the locked thermal processdurations and mechanism motion durations along with the requirement forcollision avoidance, proper sequencing, etc.).

It is quite possible that a particular schedule may achieve the requiredcycle period and desired set of thermal formal process durations butthat it requires moving some mechanisms faster than is strictlynecessary to achieve these objectives. It may be desirable instead tooperate the mechanisms only as fast as is absolutely necessary toachieve the other desired objectives. This would reduce the average andpeak current to the servomotors (and associated motor heating) andperhaps otherwise reduce general wear and tear on the system. To dothis, the cycle period and other thermal process branch durations wouldbe locked at their desired values. All of the motion branch durationswould be unlocked, and their target values set to a relatively largevalue. The QP solver would then have the freedom to speed up themechanism if required to meet the constraints on cycle period andthermal process durations, but otherwise it would increase the motiondurations as much as possible.

When the desired target values can not be exactly achieved, the user canbe provided with some indication of which bounds must be relaxed inorder to more closely achieve the desired objective. This can be done byexamining the Lagrange Multiplier Values computed at the location of theoptimum schedule. The Lagrange Multipliers can be given theinterpretation of being the partial derivatives of the objectivefunction with respect to the elements in the b_(min) and b_(max) vectorsforming the right hand sides of the matrix constraint relationshipsgiven by Equation 24. Thus non-zero values for a particular LagrangeMultiplier indicates that the objective function would be eitherincreased or decreased (depending on the algebraic sign of the LagrangeMultiplier) by changing the value of the associated element of theb_(min) and b_(max) vectors. Such constraints are said to be active.Other constraints whose Lagrange Multiplier values are zero are said tobe inactive. By appropriately displaying to the user the activeconstraints ranked by the relative magnitude of their LagrangeMultiplier values the user would be informed as to which bounds areimposing the greatest limitation on achieving the desired results.Further, the sign of the Lagrange multiplier could be used to determine,and subsequently display to the user, whether the target value (in thecase of a locked branch) should be increased or decreased to furtherimprove the ability to achieve the target values of the unlockedbranches. Most constrained optimization algorithms provide for thecapability to compute Lagrange Multiplier values (or already computethem as part of their normal operation), so this additional informationcould be utilized to provide further guidance to the user if desired.

If the user overly constrains the system there may be no feasiblesolution to the QP problem that has been posed. In such a case it isimportant to recognize that the problem is infeasible, and to relax thebounds enough to allow a feasible solution to occur. QP solverstypically are able to recognize that there is no feasible solution andreturn an appropriate flag. This flag can be used by the software thatimplements the GTSSM to trigger a prompt to the user to relax anyconstraints as much as possible.

The MAR (Matrix Algebraic Representation) also allows a proposedschedule to be analyzed in order to discover any potentially damaging orundesirable constraint violations. This capability provides a mechanismfor performing intelligent input qualification on user requested changesto event times which goes well beyond conventional high and low boundchecking.

The basic purpose of the schedule analysis methodology is to provide thecapability to check a proposed schedule for constraint violations andthen to report any violations that might be found. The method alsoallows violations to be reported in a way that allows a user tounderstand the consequences of the violation and, to the extentpossible, indicates a remedy.

The actual checking of the constraint violations is computationallyquite simple involving only a single matrix multiplication andsubtraction. To fully obtain the desired functionality there are someadditional considerations that must also be taken into account. Theadditional complexity arises primarily from the fact that the can onlyschedules nodal (event) times for a subset of the nodes in the overallsystem model. This subset of nodes is referred to as the set ofindependent nodes. The nodal times for the remaining, dependent nodes,is then automatically calculated from the independent nodal times andknown, fixed branch durations.

The overall methodology then consists of the following components:

1 .Solving for Dependent Nodal Times

2 .Detecting Constraint Violations

3 .Diagnosing and Categorizing Violations

Dependent Nodal Times can be solved for in terms of the previoslydefined constraint set by utilizing the following procedure.

1. Form the subset of equality constraints as:

A _(eq) t=b _(eq)  Equation 32

By retaining only those rows of A and b (as defined in Equations 19 and20 respectively) for which the upper and lower bounds are equal. Notethat the upper and lower bounds for branches with known, fixed,durations will both be set to this known fixed value. The upper andlower bounds of these fixed duration branches will therefore be equaland the rows of A corresponding to these branches along with theauxilliary constraints will thus be retained in A_(e). Typically thebranches with known fixed values will be the Motion, Cyclic andSimultaneity branches. In order to have a well posed problem, the rowdimension of A_(eq) must be greater than or equal to the number ofdependent nodal times. It is required that a sufficient number ofbranches be assigned fixed values such that this condition is met.

2. By reordering the columns of A_(eq), form the partitioned incidencematrix A_(p), in which the first N_(I)columns of A_(p) correspond to theindependent nodal times. Form the partitioned nodal time vector t_(p) bysorting the columns of t to correspond to the new column order in F_(p),Equation 32 can then be rewritten as: $\begin{matrix}{{\left\lbrack {A_{P_{I}}\quad A_{P_{D}}} \right\rbrack \quad\left\lbrack \frac{t_{p_{I}}}{t_{p_{D}}} \right\rbrack} = b_{eq}} & {{Equation}\quad 33}\end{matrix}$

3. Rearrange Equation 33 to form the set of linear equations

A _(P) _(D) t _(P) _(D) −(b _(eq) −A _(P) ₁ t _(P) ₁ )=0  Equation 34

5. Assign current values to the independent nodal event times andelements of b_(eq) corresponding to fixed branch duration and solve theoverdetermined system of Equations 34, for t_(P) _(D) . This can be doneusing standard numerical methods available for solving overdeterminedsystems of linear equations, e.g. a Linear Least Squares Solver. For aconsistent set of fixed branch durations and properly constructedNetwork Constraint Diagram an exact solution to this overdeterminedproblem may be obtained. That is, a vector of dependent nodal timest_(P) _(D) can be found that satisfies Equation 34 without any error. Ifan exact solution can not be found then the user should be notifiedaccordingly so that the situation can be remedied. It is noted that thezero reference node should be included with the independent event timesand be consistent with the definition provided in Eqation 18.

6. The elements of of t_(P) _(D) and t_(P) ₁ are resorted into theiroriginal order corresponding to the rows of Equations 22 and 23 to forma vector of times, t_(proposed) consituting the proposed schedule.

Once the dependent times have been calculated and a proposed schedule isavailable, actually detecting constraint violations is relativelystraightforward. Let the proposed schedule be given by the vector ofnodal times, t_(proposed). From Equation 22 and Equation 23 theconditions to be checked are then given by the set of inequalities:

At _(proposed) −b _(max)≦0  Equation 35

At _(proposed) −b _(min)≧0  Equation 36

if the inequalities given in either Equation 35 or Equation 36 are notcompletely satisfied then the proposed schedule violates at least oneconstraint.

Each row in Equation 35 and Equation 36 represents a particular systemconstraint. Explanatory text and a severity level can accordingly beassigned to each row in these equations. A proposed schedule would thenbe tested by evaluating Equation 35 or Equation 36. The row numbers ofany rows that did not satisfy the required inequality would then providean index for recalling and displaying corresponding error message text.The severity level could be used to sort multiple constraint violationsin order of severity, and could also key for an appropriate color code,or other attribute (flashing) on the graphical user interface.

This assignment of text and severity level can be done in an automaticmanner. To understand how such an automatic assignment can be performed,recall that the rows in Equation 35 or Equation 36 are derived fromnetwork branches. The violation implied by each branch type cantherefore be an attribute that is assigned to the particular branch typeand then further specified for the particular branch. For example for acollision branch we could automatically define the violation text toread “collision occurs between invert and baffle” this event could alsobe assigned a severity level for example a number between 1 and 10 with10 being the most severe. The corresponding row in Equation 35 orEquation 36 would then inherit these descriptions from the branches theydescend from. Alternatively, once a Network Constraint Diagram was fullydefined for a particular forming process, individual messages could bemanually entered or the automatically generated default set could beedited and the resulting data stored in a table for each of the finitenumber of constraint violations which might occur. While this manualapproach could perhaps allow some enhancement to the readability of themessages, it could also be error prone, and would have to be updated ifany changes were made to the Network Constraint Diagram. The automaticapproach is thus preferred.

In a state of the art control, the operation of one of thesemechanisms/processes is controlled by turning the mechanism, etc., “on”and “off” at selected angles within a 360° cycle. The turning “on” of amechanism is an event and the turning “off” of a mechanism is an event.FIG. 12 illustrates a conventional list of timed events with theirangular “on” and “off” times for an I.S. machine. This list is availablefrom the machine control.

The unwrapped schedule can be converted to a corresponding wrappedschedule using the known cycle period and calculating event anglesmodulo 360 degrees (event angle=modulo 360 (unwrapped event time/cycleperiod)×360. To go from a wrapped schedule to an unwrapped schedule theoriginal network constraint diagram is augmented with a new set ofdirected branches called unwrapping branches. The subgraph formed fromthe unwrapping branches along with the motion and sequence branches andany nodes that are incident on these branches will be referred to as thecycle unwrapping graph. An example of a Cycle Unwrapping Graph isillustrated in FIG. 12 which shows a press and blow cycle. The CUG(Cycle Unwrapping Graph) is created so as to have the followingproperties.

Property 1. The CUG is a connected graph

Property 2. The nodes of the CUG are exactly the set of all the sourceand destination nodes for all of the motion and process branches in theNCD (Network Constraint Diagram). This means that every “on” and “off”angle of the timing drum (sequencer) is represented on the graph.

Property 3. Every branch in the CUG is part of a cycle (path from anevent to the next periodic repetition of that event). For example, thelowermost line of FIG. 11 proceeds: M120 (Tongs Open), M110 (TongsClose), M210 (Takeout Out) and M120. Similarly, the next line upproceeds M210 (Takeout Out), M220 (Kickback), M200 (Takeout In), andM210. The next line up proceeds, M190 (Blow Head Up), M180 Blow HeadDown), p2 (Final Blow), and M190. The next line up proceeds MP1000 (BlowMolds Open), M240 (Blow Molds Closed), M1000. The next line proceedsMP100 (Plunger To Loading Position), M230 (Pressing), M80 (Neck RingsOpen), M70 (Neck Rings Closing) and M100. The next line proceeds MP90(Blanks Close), M230, M40 (Plunger To Invert Position), M60 (Invert),M70 (Revert), M90 and the first line from the left proceeds MP150(Baffle Up), M140 (Baffle Down), M230, M150 (Baffle Up).

Property 4. The branches incident on the nodes of the CUG either fan inor fan out but not both. That is, if there is more than one branchdirected towards a given node then there is only one branch leaving thatnode (fan in). If there is more than one branch leaving a given nodethen there is exactly one node entering it (fan out)

The above Properties imply that the CUG also has the followingadditional properties:

Property 5. Any sequence of three nodes that can be traversed by twointerconnecting branches following in the branch direction, will be partof at least one common cycle. So each node in the CUG is between twoother events in a cyclic sequence.

Property 6. Since each branch in the CUG is part of a cycle it must beless than one period long.

The problem is then solved in a series of steps, which include checksthat the input data is properly ordered to provide a valid solution.

1. Form the branch incidence matrix for the CUG.

2. Divide the nodes of the CUG into two sets: The independent nodeswhose values are given in the input set of wrapped event angles, and theremaining dependent nodes whose event angles are as yet unknown. For awell posed problem all of the dependent nodes must be connected to anindependent node by a branch whose duration is known.

3. Assign the known input event angles to the independent nodes in theCUG to which they correspond.

4. Determine the event angles for the dependent event angles using:

Θ_(i)=mod((Θ_(i) ±d _(i−j) /T _(cycle)*360),360)  Equation 37

 Where:

Θ_(i) is the event angle to be calculated for ith dependent node

Θ_(j) is the dependent node connected to node i through a branch withknown temporal duration d_(i−j).

The algebraic sign in Equation 37 is chosen as positive when thedependent node is downstream from the independent node and negativeotherwise.

5. Assign the event angle for any periodic repetition nodes to equal thevalue of the node which it replicates (the node to which it is connectedto by a cyclic branch in the NCD).

6. Check that all event angles are in the correct cyclic order. This isdone by checking that the event angle assigned to each node is betweenthe value of any pairing of its immediate upstream and downstreamadjacent nodes.

7. Find the angular branch durations for all of the branches in the CUGusing:

δ=mod(−FΘ,360)  Equation 38

 Where:

F is the branch incidence matrix for the CUG

Θ is the vector of nodal event angles in the CUG

δ is the vector of angular branch durations in the CUG

8. Convert δ,the vector of angular branch durations to a vector d oftemporal duration using:

d=δ/360*T  Equation 39

 where T is the cycle period.

9. Solve for the unwrapped nodal event times by solving, using standardnumerical methods, the possibly overdetermined system:

−F _(r) t=δ  Equation 40

 Where F_(r) is the branch incidence matrix of the CUG with the columncorresponding to the zero reference node deleted. (The choice of zeroreference node is arbitrary but should be consistent with that of theNCD.) Although the above system is overdetermined the least squaressolution will in fact have zero error because δ is in the column spaceof F_(r). This should be verified to identify any computationalproblems.

10. The independent nodes in the NCD are assigned values using thecorresponding unwrapped event times that are determined from equation 4.The dependent nodes in the NCD can then be determined as previouslydescribed.

FIG. 13 is a block diagram illustrating the making of the analyticaltool (Tool). The first thing is to Define A Network Constraint DiagramFor A Bottle Forming Process In An I.S. Machine 60 (an unwrapped cyclefollowing the formation of the gob, its delivery to the blank station,the transfer of a parison from the blank station to the blow station andthe removal of a formed bottle from the blow station). Then TranslateThe Network Constraint Diagram Into A Data Table 61 which is acompilation of the essential data in the constraint diagram and includeslists of all branches and for each, identifies its name, type, startnode number, end node number, etc.. This can be done manually byexamining a drawing of the constraint diagram or a computer can do thisfrom a computerized drawing of the constraint diagram. The next step isto Translate The Data Table Into A Mathematical Representation 62 whichis then transformed into a Computerized Model 64 for evaluation. In theillustrated embodiment the computerized model is based on matrixmathematics but other mathematical approaches could be used. Dependingon the nature of the bottle and the process used to make the bottle(press and blow, blow and blow, for example), different data tables maybe required. As shown, a number of data tables (Data Table “N”) may bestored in memory and input as desired.

FIG. 14 illustrates the portion of the Computerized Model 64 which willUnwrap 360° Machine Cycle Event Angles Into Bottle Forming Process EventTimes 66 (Unwrapping). It receives, as inputs, either as downloaded datafrom a machine control 42 (FIG. 1) or the like, or via manual entry at aconsole, terminal or the like, the Event Angles, the Machine Cycle Time(the cycle time for a 360° timing drum for an I.S. machine) and theMotion Durations (the “M” (capital M) durations for the displaceablemechanisms) and outputs Event Times in the bottle forming process. Itshould be noted that while the event angles and machine cycle time arenormally available data from an existing job file, motion durationswould have to be defined for the job.

FIG. 15 illustrates the use of this Computerized Model 64 to Analyze AnUnwrapped Schedule Re Constraints 68 (Constraint Violation Avoidance).With Event Times, Machine Cycle Time, Motion Durations, SubmotionDurations (the “m” (small m) motion durations for the displaceablemechanisms), the Collision Branch Lower Limits, the Sequence BranchLower Limits, and the Thermal Forming Process “N” Limits as inputs, thecomputerized model can determine whether There Will Be A ConstraintViolation? 70. While the word input means that the inputted informationis made available, it might be available form different sources. Forexample, the event angles and machine cycle time could be available froman existing job file, whereas the rest of the inputs would be inputtedat the time when the data table is inputted into Translate The DataTable Into A Mathematical Representation 62.

Whenever an input can have a range of values that may be selected by theoperator, such input will include the upper and lower limits of thatinput, and a choice as to whether the setting is to be locked at aspecific value or unlocked to permit its location somewhere within thelimits. Nominally the lower limits for the Collision and SequenceBranches can be set at zero or at a selected margin of error and thiscan be locked out from the operator or the operator may be given accessto these inputs so that the operator can define any desired lowerlimits. One constraint violation would be a schedule that would resultin something happening in the wrong sequence. Another would be aschedule that would result in a collision. Either of these constraintviolations could be determined without Thermal Forming Process Duration“N” Limits. With this additional input(s), the unwrapped schedule couldbe evaluated to determine whether one or more of the Thermal FormingProcess Durations will be either too short or too long and therebyviolate one or more of the thermal forming process constraints. Theseinputs and ouputs, as well as inputs and outputs in latter discussedembodiments, could be available for viewing on any suitable screen.

If either inquiry obtains an affirmative answer, the control willOperate Alarm and/or Reject Inputs 74 and Output Constraint Violation(s)76. If neither inquiry is answered in the affirmative the control canOutput The Calculated Margins 78 to give the operator some idea as tohow tight the schedule is and then Wrap The Event Times Into EventAngles And Print The Event Angles and New Machine Cycle Time 79. “Print”is intended to mean the presentation of data in either operator readableform as an output presented on a screen or a document or machinereadable form so that the machine control can automatically operate onthe data such as by resetting the machine with the new event angle andmachine cycle time.

In one mode, an I.S. machine may be running and the operator may want tochange one or more of the event angles in the 360° timing drum. Aparticular job is being run and basic data for that job (the durationsand limits) has already been inputted into the control. This data alongwith the machine cycle time can be downloaded from the machine control.The Event Angles including any proposed Event Angle change can bedownloaded to the unwrapper 66 so that Event Times can be defined. Inanother mode, an operator may have a record (Event Angles and MachineCycle Time) of a job that was run previously and want to evaluate somechanges before he starts the job.

In a conventional I.S. machine which has a number of mechanisms that areoperated via pneumatic cylinders, Motion Durations and SubmotionDurations may have to be empirically defined, as with high-speedcameras. Where interferences involve actuators which are displacedpursuant to motion profiles, the submotion zones can either beempirically defined or they may be mathematically determined.

FIG. 16 illustrates the use of this computerized model to monitor thethermal forming process durations (Thermal Forming Process Durations).With Event Times, Motion Durations, Submotion Durations and MachineCycle Time known or as inputs, the Computerized Model 64 will Analyze AnUnwrapped Schedule Re Thermal Forming Process Durations 80. and then theComputerized Model 64 will Output The Thermal Forming Process Durations82. The operator can, accordingly, at any time, see the Thermal FormingProcess Durations and based on his experience, make changes to the 360°Event Angles and Machine Cycle Time. With the additional input ofThermal Forming Process Duration “N” Limits, the computer model can alsoOutput Thermal Forming Process Duration “N” Margins 81 so that theoperator can see where the time of any process is relative to itsallowable time window.

FIG. 17 illustrates the use of the computerized model to define, for anexisting machine set up, the optimized cycle time (Optimized Cycle Time)and the optimized Event Angles for that schedule. With Motion Durations,Submotion Durations, Collision Branch Lower Limits, Sequence BranchLower Limits, Event Times, Machine Cycle Time, and Optimized MachineCycle Time/Target/Lock Status known or as inputs to the OptimizeUnwrapped Schedule For Minimum Cycle Time 82, the Computerized Model 64will determine whether There Is A Feasible Schedule? 83. If not themodel will Reject The Inputs 85. The Machine Cycle Time and the EventTimes may be supplied from the unwrapper and the Optimized Machine CycleTime may be inputted by the operator. The Event Times and Machine CycleTime are only required to determine the thermal forming durations sothat these valves could be locked before doing the optimization.Equivalent inputs would be the Thermal Forming Durations. The operatorcan set the Optimized Machine Cycle Time Target to zero with an unlockedstatus and the Computerized Model will try to optimize the proposedschedule at the lowest possible cycle time. In the event the operatordecides that rather than reduce the machine cycle time from the currentMachine Cycle Time to the fastest Machine Cycle Time, he would prefer toreduce the cycle time to some machine cycle time therebetween. He canset the Optimized Machine Cycle Time Target at a time intermediate theMachine Cycle Time and the fastest machine cycle time with a lockedstatus. If there is a feasible schedule, the model will Wrap OptimizedEvent Times Into Event Angles 84 and Print The Event Angles And The NewMachine Cycle Time 86 for the schedule cycle so that it will beavailable for input into the machine controller portion of the control.

FIG. 18 illustrates the use of the Computerized Model 64 to tune anoperating I.S. machine in response to operator inputs defining one ormore of the Thermal Forming Process Durations (Thermal Forming ProcessDuration “N”, and associated Target, Limits and Lock Status). WithMachine Cycle Time and Event Times (or Thermal Forming ProcessDurations), as inputs, and with Motion Durations, Submotion Durations,Collision Branch Lower Limits, Sequence Lower Limits, also as inputs,the Optimize Unwrapped Schedule 88 portion of the Computerized Model 64will determine whether There is A Feasible Schedule? 90. As shown, thereis an additional input: Thermal Forming Process Duration “N”, whichincludes the Target (time), Limits and Lock Status.

The operator may, for example, decide that a defect is occurring becausethere isn't enough “reheat” time and input a proposed new reheat time.The operator could also input more than one new Thermal Forming ProcessDurations N1, N2, . . . , during an off line evaluation of the process.In either of these modes the Event Angles for the entire schedule wouldbe available and these could all be inputted by the operator ordownloaded from the control for the machine.

If no schedule is feasible, the Computerized Model will Reject TheInputs 92. If a schedule is feasible, the Computerized Control willOutput The Thermal Forming Process Durations 89. Such an output might,for example, be a printout for each duration, of the target duration, anindication of whether or not its target duration was locked, and theactual duration located in a window extending between the high and lowlimits for the duration. Should there be a solution the Wrap OptimizedEvent Times Into Event Angles 84 portion of the Computerized Modelconverts the Event Times to Event Angles and proceeds to Print EventAngles And New Machine Cycle Time 94.

FIG. 19 illustrates the use of the computerized model for completeschedule optimization (Schedule Optimization). Machine Cycle Time, EventTimes, Motion Durations, Submotion Durations, Thermal Forming ProcessDurations, Collision Branch Durations and Sequence Branch Durationswhich represent target values, are possible inputs to Optimize TheUnwrapped Schedule 96. In addition, a number of limits are alsoinputs: 1. Min/Max Motion Duration “N”, 2. Min/Max Thermal FormingProcess Duration “N ”, 3. Min/Max Collision Branch “N”, and 4. Min/MaxSequence Branch “N ”. The Min/Max Motion Duration “N” relates toservomotor driven displacements which can be selectively varied. Giventhese inputs, The Optimize Unwrapped Schedule finds and optimizedschedule if a feasible schedule exists. In the event that the queryThere Is A Feasible Schedule? 98 is answered in the negative, theoperator will be advised to Loosen Limits 100 so that the operator willtry to find a solution by modifying the limits. In the event that thequery There Is A Feasible Schedule? 98 is answered in the affirmative,the control may Set Collision/Sequence Branches To Max, Lock All OtherDurations and Again Optimize The Unwrapped Schedule 101. This willmaximize these branches to further reduce the rate of collision ofmissequencing. The computer model will then Wrap Event Times Into EventAngles 102, Print The Event Angles And The New Machine Cycle Time 104and Output Optimized Durations VS. Limits 106. The operator accordinglyhas the ability to manipulate the unwrapped schedule to the fullest. Hecan start with an existing job file which traditionally would have thecycle time, event angles, and the servo-motion branch durations and workto define an optimized schedule. Alternatively, he could enter theThermal Forming Process Durations and convert them to the Event Times (ascreen, not shown could display all of this information to facilitatehis analysis).

The Computerized Model can, if There Is A Feasible Schedule 107 (FIG.20), determine if There Is An Active Constraint(s) That RestrictsFurther Improvement? 108 and will Output The Active Constraint(s)(including the direction to move for improvement) 110. For example, thecomputerized model may show that the constraint that is preventingoptimization is blow mold cooling time. This then enables the operatorto address this specific problem to increase the flow of coolant throughor at the molds. If there is no solution the operator is advised toLoosen Limits 100.

FIG. 21 illustrates the use of this technology to optimize the wear on amechanism operated by a servomotor (Wear Optimization). Here theComputerized Model 64 is used to optimize an unwrapped schedule and whenThere Is A Solution 107, the next step is for the computer model toOptimize The Unwrapped Schedule Locking All Variables Except ServoMotion Durations And Setting Target Servo Motion Durations At LargeValue. 112. The next step is for the computer model to print TheOptimized Duration For Servo Motor “N:” and to Deliver The OptimizedDuration For Servo Motor “N” To Servo Motor “N” Controller 114, whichwill then Route Duration Of Servo Motor “N” From Servo “N” Controller ToServo “N” Amplifier Drive Card 116 which will then Change To OptimizedDuration In Amplifier Digital Signal Processor 118. The AmplifierDigital Signal Processor could, for example, scale a normalized motionprofile for the mechanism to be driven to accommodate any duration ofmotion. In this environment, an ideal motor to adjust in this fashion isa servomotor which has a normalized motion profile that could be scaledfrom a minimum duration to a maximum duration. While the preferredembodiment of profiled activator is a servo motor, other electronicmotors, such as a stepping motor, could be used.

The disclosed control can be used with a glass forming machine eitherdirectly as a part of the machine control or indirectly as a control ofa machine which is virtually operated for evaluation purposes.

What is claimed is:
 1. A control for use with a glass forming machinewhich includes a blank station for forming a parison from a gob ofmolten glass having a number of mechanisms, a blow station for forming aparison into a bottle having a number of mechanisms, a feeder systemincluding a shear mechanism for shearing a gob from a runner of moltenglass so that it can be delivered to the blank station, a mechanism fortransferring a parison from the blank station to the blow station and atakeout mechanism for removing a bottle from the blank station, whereinthe machine has a set cycle time, wherein each of the mechanisms iscycled within the time of one machine cycle, wherein each displacementof each of the mechanisms has a determinable duration, whereininterferences exist between the motion paths of the gob, the parison,the bottle and individual mechanisms, wherein at least one displacementof at least one of the mechanisms is divided up into at least twosubmotions which locates an interference with the gob, the parison, thebottle or another mechanism, wherein process air is supplied for atleast one process for a finite duration by turning a supply valve “on”and then “off” during the time of one machine cycle, wherein the startof a displacement and the turning of a supply valve “on” and then “off”are controlled events which are started in a selected sequence, andwherein an unwrapped bottle forming process wherein a gob of moltenglass is formed from a runner of molten glass, the gob is then formedinto a parison in the blank station, the parison is then formed into abottle in the blow station, and the bottle is then removed from the blowstation, takes more than one machine cycle to complete, comprising acomputerized model of a mathematical representation of a networkconstraint diagram of the unwrapped bottle forming process fordetermining whether, with the following inputs:
 1. the time in anunwrapped bottle forming process for each displacement to occur;
 2. themachine cycle time;
 3. the motion durations of each of the mechanisms,and
 4. the submotion durations, a collision will result between the gob,the parison, the bottle or any other mechanism.
 2. A control for usewith a glass forming machine according to claim 1, further comprisinginputting means for inputting the time in an unwrapped bottle formingprocess for each displacement to occur into said computerized model, themachine cycle time into said computerized model, and the motion andsubmotion durations of the mechanisms.
 3. A control for use with a glassforming machine according to claim 2, wherein said mathematicalrepresentation comprises a mathematical matrix.
 4. A control for usewith a glass forming machine according to claim 3, wherein, saidcomputerized model means further comprises means for calculatingcollision margins for each pair of interfering paths.
 5. A control foruse with a glass forming machine according to claim 4, wherein saidcomputerized model additionally comprises means for determining whethersome machine sequence will be incorrect.
 6. A control for use with aglass forming machine according to claim 2, wherein said inputting meanscomprises terminal means.
 7. A control for use with a glass formingmachine according to claim 1, wherein said computerized model of amathematical representation of a network constraint diagram of theunwrapped bottle forming process additionally comprises means fordetermining whether, with the following additional input: thermalforming process duration “N” limits, the thermal forming processduration “N” will be outside of the thermal forming process duration “N”limits.
 8. A control for use with a glass forming machine according toclaim 1, wherein said inputting means further comprises means forinputting thermal forming process duration “N” limits into saidcomputerized model.
 9. A control for use with a machine which receivesan initial product and transforms the initial product into a finalproduct in a plurality of stations, wherein the machine has a setmachine cycle time, wherein there is at least one mechanism at eachstation, wherein each of the mechanisms is displaced from an advancedposition to a retracted position and from the retracted position back tothe advanced position during the time of one machine cycle, wherein theduration of each displacement of each of the mechanisms is determinable,wherein the start of each displacement is an event which is selectivelyactuated in a selected sequence, and wherein the operation of themachine has a number of constraints including interferences which existbetween the motion paths of individual mechanisms, the start and endtimes and the durations of displacement of the mechanisms, wherein anunwrapped process wherein the initial product is transformed into thefinal product takes more than the time of one machine cycle to complete,wherein the displacement of at least one of the mechanisms is divided upinto at least two submotions which locates an interference, comprising acomputerized model of a mathematical representation of a networkconstraint diagram of the unwrapped process for determining whether,with inputs including the following:
 1. the time in an unwrapped processfor each displacement to occur;
 2. the machine cycle time;
 3. the motiondurations of displacement of each of the mechanisms, and
 4. thesubmotion durations, a collision will result between any two mechanisms.10. A control for use with a glass forming machine according to claim 9,wherein said mathematical representation comprises a mathematicalmatrix.
 11. A control for use with a glass forming machine according toclaim 10, wherein, said computerized model means farther comprises meansfor calculating collision margins for each pair of interfering paths.12. A control for use with a glass forming machine according to claim11, wherein said computerized model additionally comprises means fordetermining whether some machine sequence will be incorrect.